Fuzzy Decision Making on Direction Changes of Water Pollution Monitoring Underwater Robots

摘要

Fuzzy decision making on trajectory direction changes of pollution monitoring robots is addressed in this paper. Measured pollution densities and the possible existence of obstacles are used as the two fundamental data. While pursuing water pollution monitoring tasks, underwater robots may experience serious difficulties due to various kinds of obstacles in the water. Therefore, one of the major concerns for underwater robots is to detect and recognize obstacles in advance for natural and smooth movements without collision. Trajectory direction changes of a robot should be made so that the robot can move in the direction that the measured pollution data is increased most, especially when there are no obstacles. When there are obstacles along the robot's path in the polluted area, proper trade-off should be made between the steepest ascending direction of pollutant densities and the possibilities of collision with obstacles or traps in them. Our experimental results show that underwater robots, which change the direction following the proposed fuzzy decision results, make their movement to the area of higher pollution density without collision.